SWM24 - Mclennan

SWM24Hardware Manual

920-0068B10/31/2013

Contents

Introduction .............................................................................................................................................................................................................................................3Features ......................................................................................................................................................................................................................................................3List of SWM24 Model Numbers .................................................................................................................................................................................................3Block Diagram (-SF and -QF) ..........................................................................................................................................................................................................4Block Diagram (-S, -Q and -IP)........................................................................................................................................................................................................5Safety Instructions .................................................................................................................................................................................................................................6Getting Started .......................................................................................................................................................................................................................................7Mounting the SWM24 .......................................................................................................................................................................................................................7Choosing a Power Supply ...............................................................................................................................................................................................................8

Voltage ...............................................................................................................................................................................................................................................8Current ...............................................................................................................................................................................................................................................9

Connecting the Power Supply ...................................................................................................................................................................................................11Installation Requirements for CE Compliance ...........................................................................................................................................................11+5V Keep-Alive Feature: .......................................................................................................................................................................................................12

Connecting the SWM24 Communications .........................................................................................................................................................................13Connecting to a PC Using RS-232 ...................................................................................................................................................................................13Connecting to a Host Using Ethernet ............................................................................................................................................................................14

Addresses, Subnets, and Ports .......................................................................................................................................................................................14Option 1: Connect a Drive to Your Local Area Network .............................................................................................................................16Option 2: Connect a Drive Directly to Your PC ................................................................................................................................................18Option 3: Use Two Network Interface Cards (NICs) .....................................................................................................................................20

Inputs and Outputs (-SF and -QF) ...........................................................................................................................................................................................21Inputs and Outputs (-S, -Q, -IP)..................................................................................................................................................................................................22Connecting Step and Direction Signals .................................................................................................................................................................................23Connecting Other Signals .............................................................................................................................................................................................................24Analog Input .........................................................................................................................................................................................................................................25Programmable Output ...................................................................................................................................................................................................................26Reference Materials ..........................................................................................................................................................................................................................27

Mechanical Outline ..................................................................................................................................................................................................................27Technical Specifications .........................................................................................................................................................................................................28Torque-Speed Curves ............................................................................................................................................................................................................31Drive/Motor Heating ...............................................................................................................................................................................................................32Mating Connectors and Accessories ..............................................................................................................................................................................33LED Error Codes ........................................................................................................................................................................................................................34Contacting Applied Motion Products ...........................................................................................................................................................................36

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SWM24 Hardware Manual920-0068B10/31/2013

Introduction

Thank you for selecting the Applied Motion Products SWM24 Drive+Motor. We hope our dedication to performance, quality and economy will make your motion control project successful. If there’s anything we can do to improve our prod-ucts or help you use them better, please call or fax. We’d like to hear from you. Our phone number is (800) 525-1609, or you can reach us by fax at (831) 761-6544. You can also email [email protected].

Features• IP65 environmental protection• Programmable, micro-stepping digital step Drive+Motor in an integrated package• Operates from a 12 to 70 volt DC power supply• Operates in velocity or position mode• Mid-band anti-resonance• Accepts analog signals, digital signals and streaming serial commands• Step input signal smoothing• Communication options: RS-232, Ethernet UDP/TCP, EtherNet/IP• Encoder feedback• Delivers up to 340 oz-in holding torque• -SF & -QF: four optically isolated, 5 to 24 volt digital “flex I/O” points (each can be configured as an input or an output)• -S, -Q, -IP: three optically isolated, 5 to 24 volt digital inputs, one optically isolated 30V, 100mA digital out-put• Input filtering both hardware and software • 0 to 5V analog input for speed and position control

List of SWM24 Model NumbersSWM24SF-3AE SWM24QF-3AE SWM24S-3EE SWM24Q-3EE SWM24IP-3EE Notes: Last digit indicates 1000 line internal encoder. E: encoder is included, N: no encoder

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SWM24 Hardware Manual920-0068B

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mailto:support%40applied-motion.com?subject=SWM24%20Question

Block Diagram (-SF and -QF)

12-70 VDC External

Power Supply

+

I/O 1+

Status

I/O 1-

I/O 2+ I/O 2-

I/O 3+ I/O 3-

I/O 4+ I/O 4-

AIN

GND GND +5VDC +5V

RS-232 TX, RX, GND,+5V

-

DigitalFilter

OpticalIsolation

SoftwareFilter

DigitalFilter

OpticalIsolation

SoftwareFilter

DigitalFilter

OpticalIsolation

SoftwareFilter

OpticalIsolation

SoftwareFilter

I/O C

onne

ctor

Pow

erCo

nnCo

mm

Conn

motor

encoder

MOSFETPWMPower

Amplifier

5 Volt DC Power Supply

3.3VDCLogic

Supply

Voltage &Temp

Monitor

DSPDriver

ControllerOver-

CurrentMonitor

I/O Functions (configure in software)I/O 1 I/O 2 I/O 3 I/O 4Step Input Direction InputJog CW Input Jog CCW Input Limit CW Input Limit CCW InputEnable Input Alarm Reset Input Enable Input Alarm Reset InputStart/Stop Input Change Speed InputGeneral Purpose Input General Purpose Input General Purpose Input General Purpose InputBrake Output Brake Output Brake Output Brake OutputFault Output Fault Output Fault Output Fault OutputMotion Output Motion Output Motion Output Motion OutputTach Output Tach Output Tach Output Tach OutputGeneral Purpose Output General Purpose Output General Purpose Output General Purpose Output

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Block Diagram (-S, -Q and -IP)

12-70 VDC External

Power Supply

Voltage &Temp

Monitor

motor

encoder

encoder

5 Volt DC Power Supply

DSPDriver

Controller

3.3VDCLogic

Supply

+

IN1+

Status

IN1-

IN2+ IN2-

IN3+ IN3-

OUT+ OUT-

GND GND +5VDC +5V

- Po

wer

Conn

I/O C

onne

ctor

EthernetNetwork CO

MM

Conn Ethernet

MAC/PHY

DigitalFilter

OpticalIsolation

SoftwareFilter

DigitalFilter

OpticalIsolation

SoftwareFilter

DigitalFilter

OpticalIsolation

SoftwareFilter

OpticalIsolation

SoftwareFilter

Over-CurrentMonitor

MOSFETPWMPower

Amplifier

I/O Functions (configure in software)IN1 IN2 IN3 OUTClockwise Limit Counterclockwise Limit Home Sensor FaultGeneral Purpose Input General Purpose Input Enable Input BrakeMaster Encoder Ch.A Master Encoder Ch.B General Purpose Input Motion

TachGeneral Purpose Output

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Safety Instructions Only qualified personnel are permitted to transport, assemble, commission, and maintain this equipment. Properly quali-fied personnel are persons who are familiar with the transport, assembly, installation, commissioning and operation of motors, and who have the appropriate qualifications for their jobs. The qualified personnel must know and observe the following standards and regulations:IEC 364 resp. CENELEC HD 384 or DIN VDE 0100IEC report 664 or DIN VDE 0110National regulations for safety and accident prevention or VBG 4

To minimize the risk of potential safety problems, you should follow all applicable local and national codes that regulate the installation and operation of your equipment. These codes vary from area to area and it is your responsibility to de-termine which codes should be followed, and to verify that the equipment, installation, and operation are in compliance with the latest revision of these codes.Equipment damage or serious injury to personnel can result from the failure to follow all applicable codes and standards. We do not guarantee the products described in this publication are suitable for your particular application, nor do we assume any responsibility for your product design, installation, or operation.

• Read all available documentation before assembly and commissioning. Incorrect handling of products in this manual can result in injury and damage to persons and machinery. Strictly adhere to the technical information on the installation requirements.• It is vital to ensure that all system components are connected to earth ground. Electrical safety is impossible without a low-resistance earth connection.• The SWM24 drives contain electrostatically sensitive components that can be damaged by incorrect han-dling. Discharge yourself before touching the product. Avoid contact with high insulating materials (artificial fabrics, plastic film, etc.). Place the product on a conductive surface.• During operation keep all covers and cabinet doors shut. Otherwise, there are deadly hazards that could possibility cause severe damage to health or the product.• In operation, depending on the degree of enclosure protection, the product can have bare components that are live or have hot surfaces. Control and power cables can carry a high voltage even when the motor is not rotating.• Never pull out or plug in the product while the system is live. There is a danger of electric arcing and danger to persons and contacts.• After powering down the product, wait until both LEDs are completely dark before touching live sections of the equipment or undoing connections (e.g., contacts, screwed connections). To be safe, measure the contact points with a meter before touching.

Be alert to the potential for personal injury. Follow the recommended precautions and safe operating practices included with the alert symbols. Safety notices in this manual provide important information. Read and be familiar with these instructions before attempting installation, operation, or maintenance. The purpose of this section is to alert users to possible safety hazards associated with this equipment and the precautions that need to be taken to reduce the risk of personal injury and damage to the equipment.Failure to observe these precautions could result in serious bodily injury, damage to the equipment, or operational dif-ficulty.

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Getting StartedThis manual describes the use of four different drive models. What you need to know and what you must have depends on the drive model. For all models, you’ll need the following:

• a 12 - 70 volt DC power supply. Please read the section entitled Choosing a Power Supply for help in choos-ing the right power supply.• a small flat blade screwdriver for tightening the connectors (included).• a personal computer running Microsoft Windows 98, 2000, NT, Me , XP, Vista or 7 (32 or 64 bit).• ST Configurator™ and Q Programmer™ software applications, available at www.applied-motion.com/prod-ucts/software.• Mating cables are available from Applied Motion, see the Accessories section for part numbers)

If you’ve never used an SWM24 drive you’ll need to get familiar with the drive and the set up software before you try to deploy the system in your application. We strongly recommend the following:

1. For -Q drives, download and install the ST Configurator™ software applications, available at www.applied-motion.com/products/software.

2. Launch the software by clicking Start...Programs...Applied Motion...

3. Connect the drive to your PC using the programming cable.

4. Connect the drive to the power supply.

5. Apply power to the drive.

6. The software will recognize your drive, display the model and firmware version and be ready for action.

Mounting the SWM24As with any stepper motor the SWM24 must be mounted so as to provide maximum heat-sinking and air-flow. Keep space around the Drive+Motor to allow convected air-flow.

• Never use your Drive+Motor in a space where there is no air flow or where other devices cause the sur- rounding air to be more than 40°C.

• Always provide airflow around the Drive+Motor .

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http://www.applied-motion.com/products/software

http://www.applied-motion.com/products/software

Choosing a Power SupplyWhen choosing a power supply, there are many things to consider. If you are manufacturing equipment that will be sold to others, you probably want a supply with all the safety agency approvals. If size and weight are an issue use a switching supply.You must also decide what size of power supply (in terms of voltage and current) is needed for your application.

VoltageThe SWM24 is designed to give optimum performance between 24 and 70 volts DC. Choosing the voltage depends on the performance needed and Drive+Motor heating that is acceptable and/or does not cause a drive over-temperature. Higher voltages will give higher speed performance but will cause the Drive+Motor to operate at higher temperatures. Using power supplies with voltage outputs that are near the drive maximum may reduce the operational duty-cycle sig-nificantly. See the chart below to determine thermal performance at different power supply voltages

If you choose an unregulated power supply, make sure the no load voltage of the supply does not exceed the drive’s maximum input voltage specification.

SWM24X-3 Max Duty Cycle vs Speed6A/phase, 40°C Ambient

Mounted on a 162 x 162 x 6 (mm)Aluminum Plate

0

2 0

4 0

6 0

8 0

10 0

0 1 0 2 0 3 0 4 0 5 0 Speed (RPS)

e l c y C

y t u D

%

12V Duty Cy c le 24V Duty Cy c le 48V Duty Cy c le 65V Duty Cy c le

8


CurrentThe maximum supply current required by the SWM24 is shown in the chart below with different power supply voltage inputs. You will note in the chart that the Drive+Motor does not draw as much current as the motor itself. That’s because the SWM24 uses switching amplifiers, converting a high voltage and low current into lower voltage and higher current. The more the power supply voltage exceeds the motor voltage, the less current you’ll need from the power supply.

Also note that the current draw is significantly different at higher speeds depending on the torque load to the motor. Estimating your current needs may require a good analysis of the load the motor will encounter.

SWM24-3 12V Power Supply CurrentMotor Current: 6A/phase

0

0.5

1

1.5

2

2.5

0 10 20 30 40 50Speed(RPS)

Torq

ue(N

.m)

0.000.501.001.502.002.503.003.504.004.50

Amps Torque

Supply Current

Supply CurrentNo Load

SWM24-3 24V Power Supply Current

0

0.5

1

1.5

2

2.5

0 10 20 30 40 50Speed(RPS)

Torq

ue(N

.m)

0.000.501.001.502.002.503.003.504.004.50

Amps Torque

Supply Current


Motor Current: 6A/phase

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0

0.5

1

1.5

2

2.5

0 10 20 30 40 50Speed(RPS)

Torq

ue(N

.m)

0.000.501.001.502.002.503.003.504.004.505.00

Am

ps

Torque

Supply Current




0

0.5

1

1.5

2

2.5

0 10 20 30 40 50Speed(RPS)

Torq

ue(N

.m)

0.000.501.001.502.002.503.003.504.004.505.00

Am

ps

Torque

Supply Current



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Connecting the Power SupplyIf you need information about choosing a power supply, please read “Choosing a Power Supply” located above in this manual.

The SWM24 contains an internal fuse that connects to the power supply + terminal. This fuse is not user replaceable. If you want to install a user serviceable fuse in your system install a 5 amp fast acting fuse in line with the + power supply lead.

Be careful not to reverse the wires. Reverse connection may open the internal fuse on your driver and void your warranty.

Installation Requirements for CE ComplianceIn order to meet the EMC Directive of CE, a line filter must be installed between AC power and the DC power supply as shown below.

EMI Filter

ACPower Input

LIN

E

LOA

D

L

N N

LL

N

P/N:092.00823.00 (LCR)

4 312

POWER

DC POWER SUPPLY V-

V+L

N

GND

SHIELD

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If you plan to use a regulated power supply you may encounter a problem with regeneration. If you rapidly decelerate a load from a high speed, much of the kinetic energy of that load is transferred back to the power supply. This can trip the over-voltage protection of a switching power supply, causing it to shut down. We offer the RC-050 “regeneration clamp” to solve this problem. If in doubt, buy an RC-050 for your first installation. If the “regen” LED on the RC-050 never flashes, you don’t need the clamp.

RC-050 Regen Clamp

+5V Keep-Alive Feature:+5Volts can be fed to the +5V terminal to keep the logic alive when the DC bus voltage is removed. This is very useful when an encoder is present, as the position of the system is then known when the DC bus is re-applied. An internal volt-age fault will have to be cleared and the motor re-enabled when the DC bus is re-applied. A .4 Amp or larger supply is required for the keep-alive supply.

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Connecting the SWM24 Communications

The SWM24 is available with two types of serial communication: RS-232 (SWM24x-xAx) or Ethernet. Each type requires a different hardware connection for interface to a PC or other host system. Below are descriptions of how to interface the SWM24 to a PC.

Connecting to a PC Using RS-232• Locate your computer within 8 feet of the Drive+Motor.• Your drive was shipped with a communication cable. Plug the large end into the serial port of your PC and the small end into the RS-232 jack (M12 connector) on your drive. Secure the cable to the PC with the screws on the sides.

NOTE: If the PC does not have an RS-232 serial port, a USB Serial Converter will be needed.

The RS-232 circuitry does not have any extra electrical “hardening” and care should be taken when connecting to the RS-232 port as hot plugging could result in circuit failure.

Do not plug or unplug the RS-232 connection while power is applied to the drive. This is known as “hot plugging” and should be avoided.

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Connecting to a Host Using Ethernet

This process requires three steps• Physically connect the drive to your network (or directly to the PC)• Set the drive’s IP address• Set the appropriate networking properties on your PC.

Note: the following pages are an excerpt from the “eSCL Communication Reference Guide”. For more information, please read the rest of the guide.

Addresses, Subnets, and PortsEvery device on an Ethernet network must have a unique IP address. In order for two devices to communicate with each other, they must both be connected to the network and they must have IP addresses that are on the same subnet. A subnet is a logical division of a larger network. Members of one subnet are generally not able to communicate with members of another unless they are connected through special network equipment (e.g. router). Subnets are defined by the choices of IP addresses and subnet masks.If you want to know the IP address and subnet mask of your PC, select Start…All Programs…Accessories…Com-mand Prompt. Then type “ipconfig” and press Enter. You should see something like this:

If your PC’s subnet mask is set to 255.255.255.0, a common setting known as a Class C subnet mask, then your machine can only talk to another network device whose IP address matches yours in the first three octets. (The numbers between the dots in an IP address are called octets.) For example, if your PC is on a Class C subnet and has an IP address of 192.168.0.20, it can talk to a device at 192.168.0.40, but not one at 192.168.1.40. If you change your subnet mask to 255.255.0.0 (Class B) you can talk to any device whose first two octets match yours. Be sure to ask your system administrator before doing this. Your network may be segmented for a rea-son.

Your drive’s IP Address is stored internally in nonvolatile memory. The factory default address is 10.10.10.10. This address can be changed using our ST Configurator software. See Edit IP Address Table under the Drive menu.

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If someone were to change the setting and not write it down or tell anyone (I’m not naming names here, but you know who I’m talking about) then you will not be able to communicate with your drive. The only way to “recover” it is to apply power to the SWM24 with the network cable unplugged. The SWM24 will detect this condition and revert to a recovery address of 10.10.10.10. You may then connect your cable to the network and use ST Con-figurator to upload and change the stored address (using Edit IP Address Table under the Drive menu).

Your PC, or any other device that you use to communicate with the drive, will also have a unique address.

Use the standard class B subnet mask (i.e. “255.255.0.0”). The mask for the recovery address is the standard class A (i.e. “255.0.0.0”).One of the great features of Ethernet is the ability for many applications to share the network at the same time.

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Ports are used to direct traffic to the right application once it gets to the right IP address. The UDP eSCL port in our drives is 7775. To send and receive commands using TCP, use port number 7776. You’ll need to know this when you begin to write your own application. You will also need to choose an open (unused) port number for your application. Our drive doesn’t care what that is; when the first command is sent to the drive, the drive will make note of the IP address and port number from which it originated and direct any responses there. The drive will also refuse any traffic from other IP addresses that is headed for the eSCL port. The first application to talk to a drive “owns” the drive. This lock is only reset when the drive powers down.

If you need help choosing a port number for your application, you can find a list of commonly used port num-bers at http://www.iana.org/assignments/service-names-port-numbers/service-names-port-numbers.xhtml.

One final note: Ethernet communication can use one or both of two “transport protocols”: UDP and TCP. eSCL commands can be sent and received using either protocol. UDP is simpler and more efficient than TCP, but TCP is more reliable on large or very busy networks where UDP packets might occasionally be dropped.

Option 1: Connect a Drive to Your Local Area NetworkIf you have a spare port on a switch or router and if you are able to set your drive to an IP address that is com-patible with your network, and not used by anything else, this is a simple way to get connected. This technique also allows you to connect multiple drives to your PC. If you are on a corporate network, please check with your system administrator before connecting anything new to the network. He or she should be able assign you a suitable address and help you get going.

If you are not sure which addresses are already used on your network, you can find out using “Angry IP scanner”, which can be downloaded free from http://www.angryip.org/w/Download. But be careful: an address might

appear to be unused because a computer or other device is currently turned off. And many networks use dy-namic addressing where a DHCP server assigns addresses “on demand”. The address you choose for your drive might get assigned to something else by the DHCP server at another time.

PC NIC

SWITCH or

ROUTER LAN DRIVE

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http://www.iana.org/assignments/service-names-port-numbers/service-names-port-numbers.xhtml

http://www.angryip.org/w/Download

Enter the desired IP address in ST Configurator by using the Edit IP Address Table under the Drive menu. If your network uses addresses starting with 192.168.0, the most common subnet, you will want to assign an ad-dress beginning with 192.168.0.

To change your PC’s subnet mask:

1. On Windows XP, right click on “My Network Places” and select properties. On Windows 7, click Computer. Scroll down the left pane until you see “Network”. Right click and select properties. Select “Change adapter settings”

2. You should see an icon for your network interface card (NIC). Right click and select properties. 3. Scroll down until you see “Internet Properties (TCP/IP)”. Select this item and click the Properties button. On

Windows 7 and Vista, look for “(TCP/IPv4)”4. If the option “Obtain an IP address automatically” is selected, your PC is getting an IP address and a subnet

mask from the DHCP server. Please cancel this dialog and proceed to the next section of this manual: “Using DHCP”.

5. If the option “Use the following IP address” is selected, life is good. Change the subnet mask to “255.255.0.0” and click OK.

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Option 2: Connect a Drive Directly to Your PCWhen you first receive your SWM24 from the factory, you will need to do this:1. Connect one end of a CAT5 Ethernet cable into the LAN card (NIC) on your PC and the other into the drive.

You don’t need a special “crossover cable”; the drive will automatically detect the direct connection and make

the necessary physical layer changes.2. Set the IP address on the drive to “10.10.10.10”.3. To set the IP address of your PC:

a. On Windows XP, right click on “My Network Places” and select properties. b. On Windows 7, click Computer. Scroll down the left pane until you see “Network”. Right click and

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select properties. Select “Change adapter settings”4. You should see an icon for your network interface card (NIC). Right click and select properties.

a. Scroll down until you see “Internet Properties (TCP/IP)”. Select this item and click the Properties button.

b. On Windows 7 and Vista, look for “(TCP/IPv4)”5. Select the option “Use the following IP address”. Then enter the address “10.10.10.11”. This will give

your PC an IP address that is on the same subnet as the drive. Windows will know to direct any traffic intended for the drive’s IP address to this interface card.

6. Next, enter the subnet mask as “255.255.255.0”. 7. Be sure to leave “Default gateway” blank. This will prevent your PC from looking for a router on this

subnet.8. Because you are connected directly to the drive, anytime the drive is not powered on, your PC will

annoy you with a small message bubble in the corner of your screen saying “The network cable is unplugged.”

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Option 3: Use Two Network Interface Cards (NICs)This technique allows you to keep your PC connected to your LAN, but keeps the drive off the LAN, preventing possible IP conflicts or excessive traffic. 1. If you use a desktop PC and have a spare card slot, install a second NIC and connect it directly to the

drive using a CAT5 cable. You don’t need a special “crossover cable”; the drive will automatically de-tect the direct connection and make the necessary physical layer changes.

2. If you use a laptop and only connect to your LAN using wireless networking, you can use the built-in RJ45 Ethernet connection as your second NIC.

3. Set the IP address on the drive to “10.10.10.10”.4. To set the IP address of the second NIC:

a. On Windows XP, right click on “My Network Places” and select properties. b. On Windows 7, click Computer. Scroll down the left pane until you see “Network”. Right click and

select properties. Select “Change adapter settings”5. You should see an icon for your newly instated NIC. Right click again and select properties.

a. Scroll down until you see “Internet Properties (TCP/IP)”. Select this item and click the Properties button.

b. On Windows 7 and Vista, look for “(TCP/IPv4)”6. Select the option “Use the following IP address”. Then enter the address “10.10.10.11”. This will give

your PC an IP address that is on the same subnet as the drive. Windows will know to direct any traffic intended for the drive’s IP address to this interface card.

7. Next, enter the subnet mask as “255.255.255.0”. Be sure to leave “Default gateway” blank. This will prevent your PC from looking for a router on this subnet.

8. Because you are connected directly to the drive, anytime the drive is not powered on your PC will annoy you with a small message bubble in the corner of your screen saying “The network cable is unplugged.”

PC NIC1 NIC2 LAN DRIVE

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Inputs and Outputs (-SF and -QF)The SWM24SF and SWM24QF have four “flex I/O” points. Each can be configured as a digital input or a digital out-put. In addition, pre-defined functions such as motor enable or fault output can be assigned, providing the flexibility to handle a diverse range of applications.

ST Configurator™ is used to set each flex I/O point as an input or output. ST Configurator™ can also be used to assign functions to each I/O point, or functions can be assigned “on the fly” from SCL streaming commands or stored Q pro-grams. Example connection diagrams can be found on the following pages.

SWM24 Connectors

Refer to connection charts at the end of this manual for wire colors on mating cables.

I/O Functions (configure in software)I/O 1 I/O 2 I/O 3 I/O 4Step Input Direction InputJog CW Input Jog CCW Input Limit CW Input Limit CCW InputEnable Input Alarm Reset Input Enable Input Alarm Reset InputStart/Stop Input Change Speed InputGeneral Purpose Input General Purpose Input General Purpose Input General Purpose InputBrake Output Brake Output Brake Output Brake OutputFault Output Fault Output Fault Output Fault OutputMotion Output Motion Output Motion Output Motion OutputTach Output Tach Output Tach Output Tach OutputGeneral Purpose Output General Purpose Output General Purpose Output General Purpose Output

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Equivalent Circuit: Analog Input (page 35 for details)

Inputs and Outputs (-S, -Q, -IP)The SWM24S, SWM24Q, and SWM24IP have have three digital inputs and one digital output. IN1 and IN2 are high speed inputs that can be configured for a number of different functions. Typically these inputs connect to an external controller that provides step & direction command signals. You can also connect a master encoder to the high-speed inputs for “following” applications. IN3 may be configured as an Enable/Disable input or a general purpose input. All 3 inputs can be configured in ST Configurator for use with Wait Input, If Input, Feed to Sensor, Seek Home and other SCL or Q commands. The output (OUT) can be configured for different functions also. See table below. Example connec-tion diagrams can be found on the following pages.

Equivalent Circuit (page 35 for details)

inside SWM24IPIN1+

IN1-

IN2+

IN2-

IN3+

IN3-

OUT+

OUT-

PIN 1

PIN 3

PIN 5

PIN 8

PIN 12

PIN 11

PIN 4

PIN 6

inside drive

I/O-

I/O+

I/O C

onne

ctor inside drive

I/O-

I/O+

I/O C

onne

ctor

inside drive

AIN

GND

SignalConditioning

+5V 50 mA max

PIN 10

PIN 9

PIN 7

I/O PIN

1+ 11- 32+ 52- 83+ 63- 44+ 114- 12

Equivalent Circuit: Flex I/O Point Set as Input

Equivalent Circuit: Flex I/O Point Set as Output

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Connecting Step and Direction SignalsAll SWM24 drives include two high-speed inputs that can accept 5 to 24 volt single-ended or differential signals, up to 3 MHz. These inputs can be connected to an external controller that provides step & direction (or step CW and step CCW) command signals. You can also connect a master encoder to the high-speed inputs for “following” applications. Or you can use these inputs with Wait Input, If Input, Feed to Sensor, Seek Home and other SCL or Q commands.

Connection diagrams follow.

Connecting to indexer with Sinking Outputs

Connecting to indexer with Sourcing Outputs

Connecting to Indexer with Differential Outputs

SWM24

I/O 2+

DIR I/O 2-

I/O 1+

STEP I/O 1-

Indexerwith

SinkingOutputs

5-24 VDC

SWM24

COM I/O 2-

DIR I/O 2+

I/O 1-

STEP I/O 2+

Indexerwith

SourcingO utputs

SWM24

Indexerwith

DifferentialOutputs

DIR+ I/O 2+

DIR- I/O 2-

I/O 1+

STEP-

STEP+

I/O 1-

I/O Functions (configure in software)IN1 IN2 IN3 OUTClockwise Limit Counterclockwise Limit Home Sensor FaultGeneral Purpose Input General Purpose Input Enable Input BrakeStep Input Direction Input General Purpose Input MotionJog CW Input Jog CCW Input TachEnable Input Alarm Reset Input General Purpose OutputStart/Stop Input

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Wiring for Encoder FollowingConnecting Other SignalsNote: If current is flowing into or out of an input, the logic state of that input is low or closed. If no current is flow-ing, or the input is not connected, the logic state is high or open.

Using Mechanical Switches

Connecting an NPN Type Proximity Sensor to an Input(When prox sensor activates, input goes low).

Connecting an PNP Type Proximity Sensor to an Input(When prox sensor activates, input goes low).

outputNPNProximitySensor

+

–SWM24

5-24 VDCPowerSupply

+ I/O+

-

I/O-

outputPNPProximitySensor

+

–

SWM245-24 VDC

PowerSupply

- I/O-

+

I/O+

SWM24MasterEncoder

B+ I/O 2+

B- I/O 2-

I/O 1+

A-

A+

I/O 1-

GND GND

Switch or Relay(closed = logic Low)

5-24 VDCPowerSupply

SWM24

+ I/O+

- I/O-

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Analog InputAll SWM24 drives feature an analog input. The input can accept a signal range of 0 to 5 VDC. The drive can be con-figured to operate at a speed or position that is proportional to the incoming analog signal. Use the ST Configurator™ software to set the signal range, offset, dead-band and filter frequency. The SWM24 provides a +5VDC 50ma output that can be used to power external devices such as potentiometers. It is not the most accurate supply for reference; for more precise readings use an external supply that can provide the desired accuracy.

Analog Input Circuit

Connecting a Potentiometer to the Analog Input

inside drive

AIN

GND

SignalConditioning

+5V 50 mA max

I/O C

onne

ctor

1-10k pot

cw

ccw

GND

AIN

+5V OUT

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Programmable OutputThe SWM24SF and SWM24QF include four “flex I/O” points which can be individually configured to act as digital out-puts. The SWM24Q, SWM24S and SWM24IP includes one dedicated digital output. Each output can be set to auto-matically control a motor brake, to signal a fault condition, to indicate when the motor is moving or to provide an output frequency proportional to motor speed (tach signal). An output can also be turned on and off by program instructions like Set Output. An output can be used to drive LEDs, relays and the inputs of other electronic devices like PLCs and counters. The “OUT+” (collector) and “OUT-” (emitter) terminals of the transistor are available at the connector. This al-lows you to configure the output for current sourcing or sinking.

Diagrams of various connection types follow.

Do not connect the output to more than 30VDC.The current through the output terminal must not exceed 40ma.

Connecting a Sinking Output

Connecting a Sourcing Output

5-24 VDC Power Supply

+ –

Load

SWM24

OUT+

OUT-


+ –

Load

SWM24

OUT+

OUT-

26


1N4935 suppression diode


+ –

relay

SWM24

OUT+

OUT-

Reference Materials

Mechanical Outline

Connecting to a load with a coilNote - A suppression diode should be placed in parallel with the coil when driving any inductive load such as

a relay coil, a valve coil, a solenoid coil, etc

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Technical Specifications

POWER AMPLIFIER: All ModelsAMPLIFIER TYPE Dual H-Bridge, 4 quadrantCURRENT CONTROL 4 state PWM at 20 kHzOUTPUT TORQUE 340 oz-in with suitable power supplyPOWER SUPPLY External 12 - 70 VDC power supply requiredINPUT VOLTAGE RANGE 10 - 75 min/max (nominal 12 - 70 VDC)PROTECTION Over-voltage, under-voltage, over-temp, motor/wiring shorts (phase-

to-phase, phase-to-ground)IDLE CURRENT REDUCTION Reduction range of 0 – 90% of running current after delay selectable

in milliseconds

CONTROLLER: All ModelsMICROSTEP RESOLUTION Software selectable from 200 to 51200 steps/rev in increments of 2

steps/revSPEED RANGE 0.00416 to 50 revolutions/secondDISTANCE RANGE Up to 10,000,000 revolutions (at 200 steps/rev)ANTI-RESONANCE(Electronic Damping)

Raises the system damping ratio to eliminate midrange instability and allow stable operation throughout the speed range and improves settling time.

TORQUE RIPPLE SMOOTHING Allows for fine adjustment of phase current waveform harmonic con-tent to reduce low-speed torque ripple in the range 0.25 to 1.5 rps

AUTO SETUP Measures motor parameters and configures motor current control and anti-resonance gain settings

SELF TEST Checks internal & external power supply voltages. Diagnoses open motor phases and motor resistance changes >40%.

MICROSTEP EMULATION Performs high resolution stepping by synthesizing fine microsteps from coarse steps (Step & Direction mode only)

COMMAND SIGNAL SMOOTH-ING

Software configurable filtering reduces jerk and excitation of extrane-ous system resonances (Step & Direction mode only).

ENCODER 1000 lines (4000 counts/revolution). Index pulse mapped to input “0”. See Host Command Reference for more information.

PHYSICAL AND ENVIRONMENTALMASS 1.58 kg (56 oz)ROTOR INERTIA 900 g-cm2 (1.27 x 10-2 oz-in-sec2)AMBIENT TEMPERATURE 0 to 40°C (32 - 104°F) when mounted to suitable heatsinkHUMIDITY 90% non-condensingAXIAL BEARING LOAD RATING 3.37 LbsRADIAL BEARING LOAD RATING 15.96 Lbs

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CONTROLLER: SF & QF ModelsMODES OF OPERATION Step & direction, CW/CCW pulse, A/B quadrature, oscillator, joystick,

SCL streaming commands, stored programs (Q only).I/O 1 (STEP) INPUT:

Optically isolated, 5-24 V, 8-12 mA. Minimum pulse width = 250 ns. Maximum pulse frequency = 3 MHz. Adjustable bandwidth digital noise rejection filter.Function: Step, CW Step, A quadrature, CW jog, Start/stop (oscillator mode), motor enable, general purpose Input.OUTPUT:Optically isolated, open emitter/collector, 30V, 40 mA max. 10 kHz max. Function: fault, motion, tach, brake, general purpose

I/O 2 (DIR) INPUT:Optically isolated, 5-24 V, 8-12 mA. Minimum pulse width = 250 ns. Maximum pulse frequency = 3 MHz. Adjustable bandwidth digital noise rejection filter. Function: direction (step & direction or oscillator modes), CCW step, B quadrature, alarm reset, CCW jog, sensor, gen-eral purpose input.OUTPUT:Optically isolated, open emitter/collector, 30V, 40 mA max. 10 kHz max. Function: fault, motion, tach, brake, general purpose

I/O 3 INPUT:Optically isolated, 5-24 V, 8-12 mA. Minimum pulse width = 250 ns. Maximum pulse frequency = 3 MHz. Adjustable bandwidth digital noise rejection filter. Function: speed change (oscillator mode), CW limit, sensor, motor enable, general purpose input.OUTPUT:Optically isolated, open emitter/collector, 30V, 40 mA max. 10 kHz max. Function: fault, motion, tach, brake, general purpose

I/O 4 INPUT:Optically isolated, 5-24 V, 8-12 mA. Minimum pulse width = 250 ns. Maximum pulse frequency = 3 MHz. Adjustable bandwidth digital noise rejection filter.Function: Alarm reset, CCW limit, sensor, general purpose input.OUTPUT:Optically isolated, open emitter/collector, 30V, 40 mA max. 10 kHz max. Function: fault, motion, tach, brake, general purpose

ANALOG INPUT RANGE (AIN) 0 to 5VDC ANALOG INPUT RESOLUTION 12 bitsCOMMUNICATION RS-2325 VOLT USER OUTPUT 4.8 to 5.0 VDC, 50 mA maximum

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CONTROLLER: -S, -Q, -IP ModelsIN1 Optically isolated, 5-24 V, 8-12 mA. Minimum pulse width = 250 ns.

Maximum pulse frequency = 3 MHz. Adjustable bandwidth digital noise rejection filter Function: CW limit, general purpose input.

IN2 Optically isolated, 5-24 V, 8-12 mA. Minimum pulse width = 250 ns. Maximum pulse frequency = 3 MHz. Adjustable bandwidth digital noise rejection filterFunction: CCW limit, general purpose input.

IN3 Optically isolated, 5-24 V, 8-12 mA. Function: home sensor, general purpose input.

OUT Optically isolated, 30V, 40mA MAX. open emitter/collector.Function: fault, motion, alarm, tach or general purpose

30


Torque-Speed CurvesNote: all torque curves were measured at 20,000 steps/rev.

3506A/phase

12V 24V 48V 70V

250

300

150

200

oz-in

50

100

0

50

0 10 20 30 40 50

rps

SWM24X-3

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Drive/Motor HeatingStep motors convert electrical power from the driver into mechanical power to move a load. Because step motors are not perfectly efficient, some of the electrical power turns into heat on its way through the motor. This heating is not so much dependent on the load being driven but rather the motor speed and power supply voltage. There are certain combinations of speed and voltage at which a motor cannot be continuously operated without damage.

We have characterized the SWM24 in our lab and provided curves showing the maximum duty cycle versus speed for commonly used power supply voltages. Please refer to these curves when planning your application.

Please also keep in mind that a step motor typically reaches maximum temperature after 30 to 45 minutes of operation. If you run the motor for one minute then let it sit idle for one minute, that is a 50% duty cycle. Five minutes on and five minutes off is also 50% duty. However, one hour on and one hour off has the effect of 100% duty because during the first hour the motor will reach full (and possibly excessive) temperature.

The actual temperature of the motor depends on how much heat is conducted, convected or radiated out of it. Our measurements were made in a 40°C (104°F) environment with the motor mounted to an aluminum plate sized to provide a surface area consistent with the motor power dissipation. Your results may vary.

SWM24X-3 Max Duty Cycle vs Speed6A/phase, 40°C Ambient

Mounted on a 162 x 162 x 6 (mm)Aluminum Plate

0

2 0

4 0

6 0

8 0

10 0

0 1 0 2 0 3 0 4 0 5 0 Speed (RPS)

e l c y C y t u D

%

12V Duty Cy c le 24V Duty Cy c le 48V Duty Cy c le 65V Duty Cy c le

32


Mating Connectors and Accessories

Connector Part Number - ManufacturerDC Power (4 Pin A-Coded M12 Male) 1523450 - PhoenixI/O (12 Pin A-Coded M12 Female) 1556252 - PhoenixRS-232 (5 Pin A-Coded M12 Female) 1542729 - PhoenixEthernet (4 Pin D-Coded M12 Female) 1535202 - Phoenix

Accessories

Serial programming cable for programming units with RS-232 ports (SWM24x-xAx): P/N 3004-278-xM (see Mating Cables list below)

Note: Prolific-based USB serial adapters do not work with Vista 64 or Windows 7 64 bit operating systems. Suggested serial adapters are Applied Motion Products 3004-235, 8500-003 or Byterunner USB-COM-CBL.

DC Power Supplies24 V, 150 W switching power supply, P/N PS150A2448 V, 320 W switching power supply, P/N PS320A48Regeneration clamp for use with high inertial loads: RC-050

Mating CablesUsually available from stock in 5 meter (16.4 foot) lengths

DC Power Cable - AMP 3004-277-xMRS-232 Cable - AMP 3004-278-xMEthernet Cable - AMP 3004-280-xMI/O Cable - AMP 3004-290-xM

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10/31/2013

http://www.byterunner.com/byterunner/product_name=USB-COM-CBL/user-id=/password=/exchange=/exact_match=exact

LED Error Codes

Status LED SWMThe SWM24 drive+motor includes a red/green LED to indicate status. When the motor is enabled, the LED flashes green slowly. When the green LED is solid, the motor is disabled. Errors are indicated by combinations of red and green “flashes” as follows:

Code Errorsolid green no alarm, motor disabledflashing green no alarm, motor enabledfast green Q program running1 red, 1 green motor disabled after a stall condition occurred1 red, 2 green move attempted while drive disabled2 red, 1 green ccw limit2 red, 2 green cw limit3 red, 1 green drive overheating3 red, 2 green internal voltage out of range3 red, 3 green blank Q segment4 red, 1 green power supply overvoltage4 red, 2 green power supply undervoltage4 red, 3 green flash memory backup error5 red, 1 green over current / short circuit5 red, 2 green I/O occupied6 red, 1 green open motor winding6 red, 2 green bad encoder signal7 red, 1 green serial communication error7 red, 2 green flash memory error

34


SWM24x-3x Connector Pin Diagrams

SWM24x-3x Cable Connection Charts

Ethernet cable (3004-280-xM) is used on all SWM24x-3EE models.

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10/31/2013

Contacting Applied Motion Products

Corporate Headquarters404 Westridge DriveWatsonville, CA 95076(831) 761-6555fax (831) 761-6544web [email protected]

36


http://www.applied-motion.com/

http://www.applied-motion.com/support

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